JP2017130083A - Route teaching device and mobile body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve a problem with route teaching which causes a mobile body to reduce an operation rate thereof during a period when the route teaching is performed with the mobile body moving.SOLUTION: A route teaching device 1 which teaches a route of a mobile body comprises: a current position acquisition section 11 which acquires a current position of the route teaching device 1; an accumulation section 13 which accumulates the current position acquired by the current position acquisition section 11 as a teaching position; and an output section 15 which outputs route information in accordance with the teaching position accumulated by the accumulation section 13. Thus, the route teaching device 1 enables route teaching to be performed without reducing an operation rate of the mobile body.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a route teaching apparatus that teaches a route of a moving body and a moving body that moves using the taught route.

  A moving body that moves along a route set in advance has been used for applications such as transportation in a factory, security, and cleaning. For example, the route can be set on a map using a computer, but in that case, the route is set without actually looking at the site where the moving object moves. Unexpected malfunctions may occur. Examples of such problems include that there are unexpected obstacles on the route, and that a place with a lot of traffic is set as the route. Therefore, a route is memorized by actually moving a moving body (for example, refer to patent documents 1).

JP 2014-219723 A

  However, when a route is set by actually moving the moving body, it is necessary to prepare the moving body for setting the route, and when the moving body for that purpose cannot be prepared, the route is set. There was a problem that I could not. Moreover, the utilization factor of a moving body will fall by using a moving body for the setting of the path | route. Moreover, in order to set many routes, the mobile body is used for a longer time, and the reduction in the operation rate becomes more remarkable.

  The present invention has been made to solve the above-described problems, and can provide a route teaching apparatus that can teach a route of a moving body while confirming a site where the moving body moves without actually moving the moving body. The purpose is to provide.

In order to achieve the above object, a route teaching apparatus according to the present invention is a route teaching device that teaches a route of a moving object, and is acquired by a current position acquisition unit that acquires a current position of the route teaching device and a current position acquisition unit. A storage unit that stores the current position as a teaching position, and an output unit that outputs route information corresponding to the teaching position stored by the storage unit.
With such a configuration, it is possible to teach the route of the moving body without using the moving body. Therefore, the route of the moving body can be taught without lowering the operating rate of the moving body. Further, since teaching is performed at the moving site of the moving body, it is possible to perform teaching while actually confirming the presence or absence of an obstacle.

The route teaching apparatus according to the present invention may further include a receiving unit that receives a teaching instruction that instructs accumulation of the teaching position, and the storing unit may store the teaching position when the teaching instruction is received by the receiving unit. .
With such a configuration, the operator can instruct the teaching position.

In the route teaching apparatus according to the present invention, the reception unit also receives part information indicating the part of the moving body corresponding to the teaching position, and the accumulation unit associates the part information received by the receiving unit with the teaching position. The route information may be stored according to the part information.
With such a configuration, for example, the teaching position corresponding to the front end portion of the moving body that is a transport cart can be set in the vicinity of the station that loads and unloads the load. While being able to approach, it can prevent that a mobile body collides with a station.

In the route teaching apparatus according to the present invention, the reception unit also receives direction information indicating the direction of the moving body corresponding to the teaching position, and the storage unit associates the direction information received by the receiving unit with the teaching position. The route information may include direction information.
With such a configuration, for example, the direction of the moving body that is the monitoring robot can be set to a desired direction of the monitoring target different from the traveling direction.

In the route teaching apparatus according to the present invention, the reception unit may also receive a name corresponding to the route information, and the output unit may output the name received by the reception unit in association with the route information.
With such a configuration, when a moving object is instructed to move according to route information, it is possible to easily select appropriate route information by using the name.

In the route teaching device according to the present invention, the route information may include a teaching time point corresponding to the route information.
With such a configuration, it becomes possible to know the teaching point of the route information. For example, it is possible to alert the route information that has passed for a predetermined period from the teaching point of time.

In addition, the mobile body according to the present invention is a mobile body that moves using the route information output from the route teaching device, the route information receiving unit that receives the route information output from the route teaching device, and the route information receiving unit. Corresponding to the instruction received by the instruction receiving unit, the route information storing unit for storing the route information received by the mobile device, the moving mechanism for moving the moving body, the instruction receiving unit for receiving the movement instruction according to the route information When the instruction is received by the control unit that controls the movement mechanism to move according to the route information and the instruction receiving unit, a difference between the teaching time point included in the route information corresponding to the instruction and the current time is determined in advance. A warning output unit that outputs a warning when the period is longer than the specified period.
With such a configuration, the operator can be alerted when a predetermined period or more has elapsed since the teaching time. In this case, there is a possibility that the situation on the route is different from the teaching time.

In addition, the mobile body according to the present invention is a mobile body that moves using the route information output from the route teaching device, the route information receiving unit that receives the route information output from the route teaching device, and the route information receiving unit. Corresponding to the instruction received by the instruction receiving unit, the route information storing unit for storing the route information received by the mobile device, the moving mechanism for moving the moving body, the instruction receiving unit for receiving the movement instruction according to the route information A control unit that controls the movement mechanism to move according to the route information, and a movement time point accumulation unit that accumulates the movement time point of the movement in association with the route information when the movement according to the route information is completed; When the instruction is received by the instruction receiving unit, the difference between the latest movement time associated with the route information corresponding to the instruction and the current time is greater than or equal to a predetermined period. A warning output unit for outputting a warning when, those having a.
With such a configuration, the operator can be alerted when a predetermined period or more has elapsed since the previous movement. In this case, there is a possibility that the situation on the route has changed from the latest movement point.

The mobile body according to the present invention further includes an obstacle detection unit that detects an obstacle, and the control unit performs an obstacle avoidance operation when the obstacle detection unit detects the obstacle during movement. When the movement according to the route information is completed without detecting the obstacle by the obstacle detection unit, the movement point accumulation unit converts the movement point of the movement into the route information. You may accumulate | store by matching.
With such a configuration, even if the detected movement of the obstacle can be performed from the previous movement time when no obstacle was detected to the present time, the movement will not be considered, and safety will be reduced. Can be increased.
Moreover, the mobile body by this invention may be a trolley | bogie or a flying body, for example.

  According to the route teaching apparatus of the present invention, since the moving body is not used for teaching the route, it is possible to teach the route of the moving body while confirming the moving site without lowering the operating rate of the moving body. In addition, according to the moving body according to the present invention, when a predetermined period or more has elapsed from the teaching time point of the route or the latest moving time point, it is possible to alert the user.

The schematic diagram which shows the path | route teaching apparatus and moving body by embodiment of this invention The block diagram which shows the structure of the path | route teaching apparatus by the embodiment The block diagram which shows the structure of the moving body by the embodiment Flowchart showing the operation of the route teaching apparatus according to the embodiment The flowchart which shows the operation | movement of the moving body by the same embodiment The figure which shows an example of the display of the path | route teaching apparatus in the embodiment The figure which shows an example of the route information etc. in the embodiment The figure which shows an example of the route information etc. in the embodiment The figure which shows an example of the route information etc. in the embodiment The figure which shows an example of the display of the mobile body in the embodiment The figure which shows an example of the display of the mobile body in the embodiment The block diagram which shows another example of a structure of the path | route teaching apparatus by the embodiment The block diagram which shows another example of a structure of the moving body by the embodiment The flowchart which shows another example of operation | movement of the moving body by the same embodiment

  Hereinafter, a route teaching apparatus and a moving body according to the present invention will be described using embodiments. In the following embodiments, components and steps denoted by the same reference numerals are the same or equivalent, and repetitive description may be omitted. The route teaching apparatus according to the present embodiment teaches a route on an actual moving route without using a moving body.

FIG. 1 is a schematic diagram showing a route teaching device 1 and a moving body 2 according to the present embodiment, FIG. 2 is a block diagram showing a configuration of the route teaching device 1, and FIG. It is a block diagram which shows a structure.
The route teaching device 1 teaches the route of the moving body 2 and is movable by the user, and is usually preferably portable. The route teaching device 1 may be, for example, a portable information processing terminal (for example, a mobile phone, a smartphone, a tablet terminal, a laptop computer, or the like), or a dedicated device used for teaching a route. Also good. In the latter case, the route teaching device 1 may have, for example, moving wheels. However, the route teaching device 1 cannot normally be used as the moving body 2. In the present embodiment, the case where the route teaching apparatus 1 is a tablet terminal will be mainly described. The route teaching device 1 includes a current position acquisition unit 11, a reception unit 12, a storage unit 13, a storage unit 14, and an output unit 15.

  The current position acquisition unit 11 acquires the current position of the route teaching device 1. There is no limitation on the method for acquiring the current position. The acquisition of the current position may be performed using, for example, wireless communication, may be performed by measuring a distance to a surrounding obstacle, or may be performed by photographing a surrounding image. Well, it may be done using other means that can obtain the current position. Known methods for acquiring the current position using wireless communication include, for example, a method using GPS (Global Positioning System), a method using indoor GPS, and a method using the nearest wireless base station. Further, as a method of acquiring the current position by measuring the distance to surrounding obstacles, for example, a method using a laser range sensor (laser range scanner) that measures the distance to obstacles in a plurality of surrounding directions, etc. It has been known. As a method of acquiring the current position by measuring the distance to the surrounding obstacles or taking a surrounding image, for example, the estimation of the current position, such as SLAM (Simultaneous Localization and Mapping), A method of simultaneously creating a map may be used. In addition, when a map prepared in advance (for example, a measurement result of a distance to a surrounding obstacle or a map having a captured image) is stored, the current position acquisition unit 11 reads the distance to the surrounding obstacle. By measuring the distance and using a map, the current position may be obtained by specifying the position corresponding to the measurement result, and the surrounding image is taken and the map is used to correspond to the shooting result The current position may be acquired by specifying the position to be performed. When the route teaching device 1 has wheels, the current position acquisition unit 11 may acquire the current position using, for example, an autonomous navigation device. The current position acquired by the current position acquisition unit 11 may be, for example, coordinates indicating latitude and longitude, or may be other coordinates. Further, the current position acquisition unit 11 may acquire the current position including the direction (direction) of the route teaching device 1. The direction may be indicated by, for example, an azimuth angle measured clockwise with north as 0 degree, or may be indicated by information indicating other directions. The current position acquisition unit 11 may include an electronic compass or a geomagnetic sensor in order to acquire the direction of the route teaching device 1. The current position acquired by the current position acquisition unit 11 may be stored on a recording medium (not shown). The current position acquisition unit 11 may include, for example, a GPS device, a laser range sensor, or the like, or may receive the current position from the GPS or the like.

  The accepting unit 12 accepts a teaching instruction that instructs accumulation of a teaching position. As will be described later, the teaching position is accumulated in accordance with the teaching instruction. The receiving unit 12 may also receive part information indicating the part of the moving body 2 corresponding to the teaching position. The receiving unit 12 may also receive direction information indicating the direction of the moving body 2 corresponding to the teaching position.

  The part information is, for example, information for identifying a part on the outer periphery of the moving body 2 (for example, front center, front right end, front left end, center right end, center left end, rear center, rear right end, rear left end, etc.). It may be information that identifies a part other than the outer periphery (for example, the central part), or may be information that indicates a part of the mobile body 2 by the local coordinate system of the mobile body 2. . For example, the receiving unit 12 may receive part information manually input by the operator. The input of the part information may be performed by selection from a plurality of part information, for example. The reception of the part information may or may not be performed simultaneously with the reception of the teaching instruction. When both are received at the same time, the part indicated by the part information is the part of the moving body 2 corresponding to the teaching position instructed to be stored by the teaching instruction received simultaneously with the part information. In addition, when the part information and the teaching instruction are received at different timings, it is preferable that the correspondence between the two is understood. In this case, the part information and the instruction instruction may have a one-to-one correspondence or a one-to-many correspondence. In the latter case, for example, the teaching position corresponding to the teaching instruction received after the part information A is received becomes the teaching position corresponding to the part information A, and then new part information B is received. The teaching position corresponding to the teaching instruction received thereafter may be the teaching position corresponding to the part information B.

  The direction information indicates the direction of the moving body 2 in the real space. For example, the direction information may be information indicating a clockwise azimuth angle with reference to north (that is, 0 degrees), and other directions. It may be the information. For example, the receiving unit 12 may receive direction information manually input by the operator, or the direction information is obtained by measuring the direction of the route teaching device 1 using a direction measuring unit such as an electronic compass or a geomagnetic sensor. It may be accepted. For example, the current position acquisition unit 11 may have the direction measuring unit. The reception of the direction information may be acquisition of direction information using a direction measuring unit or the like. The reception of the direction information may or may not be performed simultaneously with the reception of the teaching instruction. When both are received simultaneously, the direction indicated by the direction information is the direction of the moving body 2 corresponding to the teaching position instructed to be stored by the teaching instruction received simultaneously with the direction information. In addition, when the direction information and the teaching instruction are received at different timings, it is preferable that the correspondence between the two is understood. In this case, the direction information and the teaching instruction may have a one-to-one correspondence or a one-to-many correspondence. In the latter case, for example, the teaching position corresponding to the teaching instruction received after the direction information A is received becomes the teaching position corresponding to the direction information A, and then new direction information B is received. The teaching position corresponding to the teaching instruction received thereafter may be the teaching position corresponding to the direction information B.

  The merit of using part information and direction information will be briefly described. For example, in the case of the mobile body 2 having a certain size, even if the movement according to the taught route is performed depending on whether the center part is taught or the end part is taught, the wall or obstacle May or may not collide with an object. In particular, there is a narrow passage in the movement route, and this is remarkable when, for example, it is desired to move the moving body 2 in a state of being exactly along the wall. There are also cases where it is desired to stop the moving body 2 along a station or the like. In such a case, finer control may be possible by using part information and direction information. In addition, when it is desired to set a specific direction in the middle of movement, such as a monitoring robot, such setting can be made by using the direction information.

  The receiving unit 12 may also receive a name corresponding to the route information. The name is used so that the operator of the moving body 2 can easily grasp which route the route information corresponds to when selecting the route information. Therefore, the name may be, for example, a name indicating the destination of the route (for example, an assembly position, an inspection position, etc.), or a name (for example, an ABC part) indicating a conveyance target corresponding to the route. Alternatively, other names that can identify the route may be used. The accepting unit 12 may accept that a series of route teaching operations has been completed, or may accept other inputs.

  For example, the reception unit 12 may receive an instruction or the like input from an input device (for example, a touch panel, a switch, or a button), or may receive an instruction or the like transmitted via a wired or wireless communication line. Good. The receiving unit 12 may or may not include a device for receiving (for example, an input device or a communication device). In addition, the reception unit 12 may be realized by hardware, or may be realized by software such as a driver that drives a predetermined device.

  The accumulation unit 13 accumulates the current position acquired by the current position acquisition unit 11 in the storage unit 14 as a teaching position. The accumulation timing is indicated by a teaching instruction. In other words, the storage unit 13 stores the teaching position in the storage unit 14 when a teaching instruction is received by the receiving unit 12. Further, the storage unit 13 may store the part information received by the receiving unit 12 and the teaching position in the storage unit 14 in association with each other. Further, the storage unit 13 may store the direction information received by the receiving unit 12 and the teaching position in the storage unit 14 in association with each other. Note that the fact that the part information and the teaching position are stored in association with each other means that the storage unit 14 only needs to know the correspondence between them. Therefore, in the storage unit 14, for example, information including the part information and the teaching position as a set may be stored, or information for linking the part information and the teaching position may be stored. The same applies to the direction information and the teaching position. Further, the storage unit 13 may also store the name received by the receiving unit 12 in the storage unit 14. In addition, when the current position is acquired by SLAM, it is preferable that information on the created map is also accumulated.

  As described above, the storage unit 13 stores the teaching position, part information, direction information, and the like in the storage unit 14. As will be described later, the route information may be constituted by the teaching position or the like, or the route information may be generated using the teaching position or the like. The storage in the storage unit 14 may be temporary storage in a RAM or the like, or may be long-term storage. The storage unit 14 can be realized by a predetermined recording medium (for example, a semiconductor memory, a magnetic disk, an optical disk, etc.).

  The output unit 15 outputs route information corresponding to the teaching position accumulated by the accumulation unit 13. The route information according to the teaching position may be route information including the teaching position, or may be route information indicating a route generated by interpolating the teaching position. Here, the former case will be mainly described, and the latter case will be described later with reference to FIG. When the part information is accumulated by the accumulating unit 13, the route information may correspond to the part information. The route information corresponding to the part information may be route information including the part information, or may be route information indicating a route generated using the part information. Here, the former case will be mainly described, and the latter case will be described later with reference to FIG. In addition, when the accumulation unit 13 accumulates the direction information, the route information may include the direction information. When the name is received by the receiving unit 12, the output unit 15 may output the name received by the receiving unit 12 in association with the route information. The name output in association with the route information is a name corresponding to the route information. Further, the route information output by the output unit 15 may include a teaching time point corresponding to the route information. The teaching time point may be any as long as it indicates the time point when the teaching corresponding to the route information is performed. For example, the teaching time point may indicate any time point from the time point corresponding to the first teaching position of the route information to the time point corresponding to the last teaching position. It may be a time point that can be regarded as a time point. Specifically, the teaching time may be the time when the first teaching of the route information is performed, or may be the time when the last teaching of the routing information is performed. These teaching points may be accumulated in the storage unit 14 by the accumulation unit 13 when, for example, the first teaching position and the last teaching position of the route information are accumulated. In that case, the teaching time point may be received by the receiving unit 12, for example, or may be acquired by the storage unit 13 from a calendar unit or a clock unit (not shown). In addition, when the route information is output immediately after the last teaching position is accumulated, the output unit 15 acquires the teaching time as the output time and outputs the teaching time including the teaching time. Also good. Even in that case, the teaching time is not substantially different from the teaching time. Further, the teaching time point may indicate, for example, a date, and may include a time. The same applies to other time points. In the present embodiment, the case where the teaching time is included in the route information will be mainly described. In addition, when the current position is acquired by SLAM, it is preferable that the generated map information is also output together with the route information. Further, the route information output from the output unit 15 may be used by one mobile body 2 or may be used by two or more mobile bodies 2.

  Here, as long as the route information to be output is finally accepted by the moving body 2, the output unit 15 may perform any output. This output may be transmitted via a communication line to a predetermined device, stored in a recording medium, or delivered to another component, for example. Specifically, the output unit 15 may wirelessly transmit the route information to the mobile body 2 or may transmit the route information by wire, and may receive the route information via a predetermined recording medium (for example, a USB memory or RFID). You may deliver to the mobile body 2. Further, the route information output from the output unit 15 may be collected once in a predetermined server or the like and passed from the server to each mobile unit 2. Note that the output unit 15 may or may not include a device (for example, a communication device) that performs output. The output unit 15 may be realized by hardware, or may be realized by software such as a driver that drives these devices.

  The moving body 2 moves using the route information output from the route teaching device 1, and normally moves along the route according to the route information autonomously without any operation by the user. The moving body 2 may be, for example, a traveling body that travels or a flying body that flies. Moreover, the mobile body 2 may be a cart or a robot, for example. The robot may be, for example, an entertainment robot, a monitoring robot, a transfer robot, a cleaning robot, or another robot. The flying object may be, for example, a rotary wing aircraft, an airplane, an airship, or another flying object. From the viewpoint of being movable to an arbitrary position, the flying object is preferably a rotary wing aircraft. The rotorcraft may be, for example, a helicopter or a multicopter having three or more rotor blades (rotors). The multicopter may be, for example, a quadrotor having four rotor blades, or may have another number of rotor blades. In the present embodiment, the case where the moving body 2 is a transport carriage will be mainly described. The mobile body 2 includes a route information receiving unit 21, a route information accumulating unit 22, a storage unit 23, an instruction receiving unit 24, an output unit 25, a moving mechanism 26, a control unit 27, and a warning output unit 28. Is provided.

  The route information receiving unit 21 receives the route information output from the route teaching device 1. The route information accepting unit 21 may accept a name corresponding to the route information along with the route information. Further, when the current position is acquired by the SLAM in the route teaching device 1, it is preferable that information on the created map is also received. The route information reception unit 21 may receive, for example, route information transmitted via a wired or wireless communication line, and from a predetermined recording medium (for example, an optical disk, a magnetic disk, a semiconductor memory, an RFID, or the like). The read route information or the like may be received. The route information receiving unit 21 may or may not include a device (for example, a communication device) for receiving. Further, the route information receiving unit 21 may be realized by hardware, or may be realized by software such as a driver that drives a predetermined device.

  The route information accumulating unit 22 accumulates the route information received by the route information receiving unit 21 in the storage unit 23. When the route information receiving unit 21 receives the name along with the route information, the route information accumulating unit 22 may store the route information and the name in the storage unit 23 in association with each other. Note that the path information and the name are stored in association with each other means that the storage unit 23 only needs to know the correspondence between the two. In addition, when information on a map created by SLAM is also received, the route information storage unit 22 preferably stores the map information in the storage unit 23 as well.

  The storage unit 23 stores route information and names. In the storage unit 23, one piece of route information may be stored, and two or more pieces of route information may be stored. The storage in the storage unit 23 may be temporary storage in a RAM or the like, or may be long-term storage. The storage unit 23 can be realized by a predetermined recording medium (for example, a semiconductor memory, a magnetic disk, an optical disk, etc.).

  The instruction receiving unit 24 receives a movement instruction according to the route information. The instruction is an instruction to move according to the route information. When the instruction is accepted, the moving body 2 starts moving according to the route information. When receiving the instruction, route information used for movement may be selected from a plurality of route information. When the selection is performed, for example, the instruction receiving unit 24 receives an instruction to output a list of route information, and a desired name is obtained from the list of route information names output in response to the instruction. Is selected, a movement instruction according to the route information corresponding to the name may be accepted. That is, the selection of the name of the route information may be an instruction for movement according to the route information corresponding to the name.

  For example, the instruction receiving unit 24 may receive information input from an input device (for example, a keyboard, a mouse, a touch panel, etc.), or may receive information transmitted via a wired or wireless communication line. . Note that the instruction receiving unit 24 may or may not include a device for receiving (for example, an input device or a communication device). The instruction receiving unit 24 may be realized by hardware, or may be realized by software such as a driver that drives a predetermined device.

  The output unit 25 reads and outputs a list of route information names from the storage unit 23 when the instruction receiving unit 24 receives an instruction to output a list of route information. When the output unit 25 outputs a list of names, as described above, the instruction receiving unit 24 receives selection of names in the list. The movement instruction corresponding to the route information corresponding to the selected name is accepted. Here, the output may be, for example, display on a display device (for example, a liquid crystal display or an organic EL display), transmission via a communication line to a predetermined device, accumulation on a recording medium, Delivery to other components may also be performed. Note that it is preferable that a list of names is finally presented to the user even when storage to a recording medium or delivery to another component is performed. The output unit 25 may or may not include a device that performs output (for example, a display device or a communication device). The output unit 25 may be realized by hardware, or may be realized by software such as a driver that drives these devices.

  The moving mechanism 26 moves the moving body 2. The moving mechanism 26 may be any method as long as it can move the moving body 2. The moving mechanism 26 may include, for example, a traveling unit (for example, a wheel or an endless track) and a driving unit (for example, a motor or an engine) for driving the traveling unit. A driving unit that drives the rotor blades may be included, and a propeller and a driving unit that drives the propeller may be included. As this moving mechanism 26, since a well-known thing can be used, the detailed description is abbreviate | omitted. In the present embodiment, a case will be mainly described in which the moving mechanism 26 includes a traveling unit and a driving unit that drives the traveling unit.

  The control unit 27 controls the moving mechanism 26 so as to move according to the route information corresponding to the instruction received by the instruction receiving unit 24. That is, the moving mechanism 26 is controlled so that the moving body 2 moves along the route corresponding to the route information corresponding to the movement instruction. When the teaching position is included in the path information, the control unit 27 may generate a path obtained by interpolating the teaching position and perform control using the generated path. When the path information includes part information, the control unit 27 performs control so that the position of the part of the moving body 2 indicated by the part information becomes a teaching position corresponding to the part information. To do. When the direction information is included in the route information, the control unit 27 determines the direction indicated by the direction information of the moving body 2 when the moving body 2 reaches the position of the teaching position corresponding to the direction information. It shall be controlled so that Since the part information and the direction information correspond to the teaching position, the information is usually the jump information for each teaching position. Therefore, for example, between the teaching positions, the part information and the direction information may be appropriately interpolated, or the part and the direction from the teaching position A to the next teaching position B correspond to the teaching position A. It may be determined that the information is indicated by the part information or the direction information. In addition, the control part 27 may use the present position and the present direction of the mobile body 2 in those controls. Therefore, the control unit 27 may perform feedback control on the moving mechanism 26 so that the current position and the current direction of the moving body 2 become the taught position and direction. Moreover, the mobile body 2 may have a current position acquisition unit (not shown). The current position acquisition unit may acquire the current position and the current direction of the moving body 2, for example. The current position acquisition unit may be the same as the current position acquisition unit 11, for example. Moreover, in the control of the position, information on a map created by SLAM may be used. In addition, when the path | route of the mobile body 2 is set, control which makes the mobile body 2 move along the path | route is already well-known, The detailed description is abbreviate | omitted.

  When the instruction receiving unit 24 receives a movement instruction, the warning output unit 28 determines a difference between the teaching time point included in the route information corresponding to the instruction and the current time point (for example, 1 or the like). A warning is output if it is over the month or year). The predetermined period may be stored in a recording medium (not shown). The warning output unit 28 may acquire the current time from a calendar unit or a clock unit (not shown). By giving such a warning, when the period from the teaching time point to the present time point becomes longer, it becomes possible to call attention regarding this. This is because there is a possibility that an unexpected new obstacle or the like exists at the moving site when the period from the teaching time point to the current time point becomes long. When the warning is output, the movement according to the route information corresponding to the instruction received by the instruction receiving unit 24 may be temporarily stopped or may not be stopped. In the former case, for example, when movement according to the route information is permitted by the operator, movement according to the route information is started. Otherwise, movement according to the route information is not started. May be. The permission or non-permission input may be received by the instruction receiving unit 24, for example.

  Here, the output may be, for example, display on a display device (for example, a liquid crystal display or an organic EL display), transmission via a communication line to a predetermined device, printing by a printer, or by a speaker. It may be an audio output, may be stored in a recording medium, or may be delivered to another component. Even when storage to a recording medium or delivery to another component is performed, it is preferable that the warning is finally presented to the user. The warning output unit 28 may or may not include a device that performs output (for example, a display device or an audio output device). In addition, the warning output unit 28 may be realized by hardware, or may be realized by software such as a driver that drives these devices.

Next, the operation of the route teaching apparatus 1 will be described using the flowchart of FIG.
(Step S101) The accepting unit 12 determines whether or not the name of the route information has been accepted. If the name is accepted, the process proceeds to step S102. If not, the process of step S101 is repeated until the name is accepted.

  (Step S <b> 102) The storage unit 13 stores the name received by the receiving unit 12 in the storage unit 14.

  (Step S103) The receiving unit 12 determines whether a teaching instruction has been received. If a teaching instruction is accepted, the process proceeds to step S104. If not, the process proceeds to step S106. In addition, the reception part 12 may receive site | part information and direction information with a teaching instruction | indication.

  (Step S104) The current position acquisition unit 11 acquires the current position of the route teaching device 1 at that time. In addition, when acquisition of the current position is repeatedly executed, the process of step S104 may be to read out the latest current position.

  (Step S105) The storage unit 13 stores the teaching position, which is the current position acquired in step S104, in the storage unit 14 in association with the name stored in step S102. In addition, when part information and direction information are accepted together with the teaching instruction, the storage unit 13 also stores them together. Then, the process returns to step S103.

  (Step S106) The receiving unit 12 determines whether or not an input to end the teaching operation has been received. If an input to end the process is received, the process proceeds to step S107. If not, the process returns to step S103.

  (Step S107) The storage unit 13 acquires information indicating the time point from a not-shown calendar unit or the like, and stores the acquired information in the storage unit 14 as a teaching time point.

  (Step S108) The output unit 15 outputs route information including a teaching position and a teaching time point and a name corresponding to the route information. When part information or direction information is received by the reception unit 12, the part information or the like may be included in the route information. Then, the process returns to step S101. Note that the route information and the like output by the output unit 15 is directly or indirectly passed to the moving body 2 and is received by the route information receiving unit 21 of the moving body 2.

  Note that the order of processing in the flowchart of FIG. 4 is an example, and the order of the steps may be changed as long as similar results can be obtained. For example, the name may be received after the end is received. In the flowchart of FIG. 4, the process is terminated by power-off or a process termination interrupt.

Next, the operation of the moving body 2 will be described using the flowchart of FIG.
(Step S201) The route information reception unit 21 determines whether route information or a name has been received. If route information or the like is received, the process proceeds to step S202. If not, the process proceeds to step S203.

  (Step S <b> 202) The route information accumulation unit 22 accumulates the route information received by the route information reception unit 21 in the storage unit 23. Then, the process returns to step S201.

  (Step S203) The instruction receiving unit 24 determines whether an instruction to output a list of names has been received. If the output instruction is accepted, the process proceeds to step S204. If not, the process returns to step S201.

  (Step S204) The output unit 25 reads all the names stored in the storage unit 23 and outputs a list of the names.

  (Step S205) The instruction receiving unit 24 determines whether selection of a name in the list of names has been received. If the selection of the name is accepted, it is determined that a movement instruction according to the route information corresponding to the name is accepted, and the process proceeds to step S206. Otherwise, the selection of the name is accepted until step S205 is accepted. Repeat the process.

  (Step S206) The warning output unit 28 determines whether or not the difference between the teaching time point included in the route information corresponding to the name accepted in step S205 and the current time is equal to or longer than a predetermined period. And when both time points are beyond the predetermined period, it progresses to step S207, and when that is not right, it progresses to step S209.

  (Step S207) The warning output unit 28 outputs a warning.

  (Step S208) The instruction receiving unit 24 determines whether or not permission for movement according to the route information has been received. If the movement permission is accepted, the process proceeds to step S209. If the movement is not permitted, the process returns to step S201. In this case, the movement according to the route information is not performed. Note that if permission for movement is not accepted even after a predetermined time has elapsed since the warning was output, the process may return to step S201 as in the case where movement is not permitted.

  (Step S209) The control unit 27 reads from the storage unit 23 the route information for which the instruction receiving unit 24 has received the movement instruction, and controls the moving mechanism 26 so that the moving body 2 moves according to the route information. . By this control, the moving body 2 moves to the destination indicated by the route information. When the movement is completed, the process returns to step S201.

  Note that the order of processing in the flowchart of FIG. 5 is an example, and the order of the steps may be changed as long as similar results can be obtained. For example, movement control according to route information may be performed regardless of whether or not a warning is output. Further, in the flowchart of FIG. 5, the process is ended by powering off or interruption for aborting the process.

  Next, operations of the route teaching apparatus 1 and the moving body 2 according to the present embodiment will be described using specific examples. In this specific example, it is assumed that the route teaching device 1 is a tablet terminal and acquires the current position using indoor GPS. In addition, it is assumed that the mobile body 2 is a cart and can wirelessly communicate with the route teaching device 1.

  First, it is assumed that the operator of the tablet terminal that is the route teaching apparatus 1 starts an application for performing route teaching by operating the touch panel. Then, the name “ABC conveyance” of the route from which teaching is started is input. Then, the name “ABC transport” is received by the receiving unit 12 and passed to the storage unit 13 (step S101). The accumulation unit 13 accumulates the received name in the storage unit 14 (step S102). Thereafter, the operator selects a part of the carriage corresponding to the teaching position in the screen display shown in FIG. The selection is performed by selecting any of the nine radio buttons 61-69. Specifically, the radio buttons 61 to 69 respectively correspond to the left front end, the center front end, the right front end, the center left end, the center, the center right end, the left rear end, the center rear end, and the right rear end of the carriage. In FIG. 6, the center of the carriage is selected. Further, it is assumed that the direction of the arrow 51 corresponds to the forward direction of the moving body 2. Then, the operator makes the position of the tablet terminal 1 (strictly speaking, it may be the center position of the tablet terminal 1) the teaching position, and the direction of the arrow 51 becomes the forward direction of the moving body 2. It is assumed that the tablet terminal 1 is arranged and the teaching button 71 is tapped. Then, the part information “P5” corresponding to “center” and the teaching instruction are received by the receiving unit 12, and the direction information “θ1” indicating the direction of the arrow 51 is acquired by the receiving unit 12. (Step S103). The direction information “θ1” is the direction of the arrow 51 measured using the direction of the route teaching device 1 acquired by the current position acquisition unit 11. When the storage unit 13 receives a teaching instruction or the like, the storage unit 13 instructs the current position acquisition unit 11 to acquire the current position. Upon receiving the instruction, the current position acquisition unit 11 acquires the current position (X1, Y1) and passes it to the storage unit 13 (step S104). When the current position is received, the storage unit 13 stores the teaching position (X1, Y1) that is the current position, the part information “P5”, and the direction information “θ1” in association with the name “ABC transport”. 14 (step S105). As a result, the information stored in the storage unit 14 is as shown in FIG. 7A.

  Thereafter, the operator moves to the next position and repeats the same teaching operation (steps S103 to S105). As a result, as shown in FIG. 7B, teaching positions and the like are accumulated in order. Thereafter, it is assumed that the operator performs an operation of teaching the destination of the route and taps the end button 72. Then, the reception unit 12 accepts that the series of operations for teaching the route has been completed, and passes them to the storage unit 13 and the output unit 15 (step S106). Upon receipt of the completion of the teaching operation, the accumulating unit 13 acquires a teaching time point indicating the current date “2016/1/15” from a calendar unit (not shown), and stores the teaching time point in the storage unit 14. Accumulate (step S107). As a result, it is assumed that the information stored in the storage unit 14 is as shown in FIG. 7C. After that, the output unit 15 reads out the name “ABC transport” and the route information including the teaching position / part information, the direction information, and the teaching time point from the storage unit 14 and wirelessly transmits them to the mobile unit 2 (step S108). After the wireless transmission, the transmitted name and route information may or may not be deleted from the storage unit 14.

  The name and the route information transmitted from the route teaching device 1 are received by the route information receiving unit 21 of the mobile body 2 that is a carriage, and passed to the route information storage unit 22 (step S201). When receiving the route information or the like, the route information storage unit 22 stores the route information and the name in association with each other in the storage unit 23 (step S202).

  Thereafter, it is assumed that the operator of the carriage 2 gives an instruction to output a route name list via an interface (not shown). Then, the output instruction of the name list is received by the instruction receiving unit 24 and passed to the output unit 25 (step S203). When receiving the output instruction, the output unit 25 reads a list of names from the storage unit 23, and displays the ABC transport button 81 and the XYZ transport button 82 on the touch panel (not shown) of the moving body 2 as shown in FIG. 8A. (Step S204). Assume that the operator taps the XYZ transport button 82 in the display of FIG. 8A. Then, an instruction for movement according to the route information corresponding to “XYZ transport” is received by the instruction receiving unit 24 and passed to the control unit 27 and the warning output unit 28 (step S205). When the warning output unit 28 receives the instruction, the warning output unit 28 reads the teaching time point included in the route information corresponding to the name “XYZ transport” from the storage unit 23, and the date of the current time point from the calendar unit (not shown). get. It is assumed that the read teaching time is “2014/10/10” and the date at that time is “2016/1/18”. If the predetermined period is one year, the warning output unit 28 determines that the period from the teaching time to the current time is one year or more (step S206), and as shown in FIG. 8B, A warning is displayed on a touch panel (not shown) (step S207). By the display, the operator of the carriage 2 can know that one year or more has passed since the teaching time of the XYZ conveyance. For example, it is assumed that the operator knew that there was no major change in the route corresponding to the XYZ transport in the past year, and tapped the button 91 to be executed in the display shown in FIG. 8B. . Then, the instruction accepting unit 24 accepts that the button 91 to be executed is selected, that is, that the movement is permitted, and passes it to the control unit 27 (step S208). Upon receiving the permission for movement, the control unit 27 starts control of movement using the route information corresponding to the name “XYZ transport” received from the instruction receiving unit 24, and the moving body 2 moves according to the control. (Step S209). On the other hand, in the display shown in FIG. 8B, when the button 92 that is not executed is tapped, the instruction accepting unit 24 accepts that fact and passes it to the control unit 27. As a result, movement control according to the route information corresponding to the name “XYZ transport” received by the instruction receiving unit 24 is not performed.

  Further, for example, in the determination by the warning output unit 28, when the period from the teaching time to the current time is less than one year, the determination result may be passed from the warning output unit 28 to the control unit 27 ( Step S206). Then, the control unit 27 may perform control so as to perform movement corresponding to the accepted name “XYZ transport” according to the determination result.

  As described above, according to the route teaching apparatus 1 according to the present embodiment, it is possible to teach a route while confirming a site where the moving body 2 actually moves without actually moving the moving body 2. it can. Therefore, teaching can be performed without lowering the operating rate of the moving body 2, and a route that can appropriately avoid an unexpected obstacle or the like existing at the moving site of the moving body 2 can be taught. For example, for a route through which the mobile body 2 passes only once, it is substantially meaningless to teach a route using the mobile body 2. This is because teaching is not performed, and the same operation is performed even if the operator operates the moving body 2 during actual operation. On the other hand, when teaching is possible without using the moving body 2 as in the route teaching apparatus 1 according to the present embodiment, teaching is performed at a time different from the actual operation time, for example, any time convenient for the operator. As a result, the convenience of the operator is improved. In addition, by receiving the part information and the direction information, it is possible to teach a finer position and direction of the moving body 2. As a result, for example, the moving body 2 can be positioned so that any side of the moving body 2 is perfectly aligned with the edge of the station where the cargo is loaded and unloaded. In addition, by accepting a name corresponding to the route information and outputting the name and the route information in association with each other, the route information can be easily selected using the name when operating the mobile unit 2. Will be able to. Further, when teaching is performed using the route teaching device 1 which is a general-purpose device such as a tablet terminal, there is also an advantage that it is not necessary to prepare a dedicated teaching device. In addition, when the mobile unit 2 includes the warning output unit 28, when the period from the teaching time point to the current time point included in the route information according to the movement instruction received by the mobile unit 2 is equal to or longer than a predetermined period, It is possible to alert the operator to that fact. This is because the longer the period from the teaching time point to the present time point, the more the situation of the moving site changes during that time, and there is a high possibility that an unexpected obstacle or the like exists.

  In the present embodiment, the case where the route teaching device 1 outputs route information including the teaching position has been mainly described. However, as described above, the route information indicating the route generated by interpolating the teaching position is included. It may be output. In that case, as shown in FIG. 9, the route teaching apparatus 1 may further include a route generation unit 16. The route generation unit 16 may generate a route according to the teaching position using the teaching position stored in the storage unit 14. The generation of the route may be performed by interpolating the teaching position, for example. In addition, when the part information is also stored in the storage unit 14, the route generation unit 16 may also use the part information in the generation of the route. Usually, the route generated by the route generation unit 16 corresponds to a specific part (for example, the center position) of the mobile body 2. Therefore, when the part information is also used, the route generation unit 16 may generate the route in consideration of the difference between the position indicated by the part information and the specific part corresponding to the route. For example, in consideration of the difference between the position of the specific part and the position indicated by the part information, the route generation unit 16 corrects each teaching position accumulated by the accumulation unit 13 to the teaching position of the specific part, A route may be generated using the teaching position. The route generation unit 16 accumulates the generated route in the storage unit 14. Then, the route information including the route is output by the output unit 15. In the case where direction information is also stored in the storage unit 14, route information including the route generated by the route generation unit 16 and the direction information may be output. The direction information is preferably associated with the generated route. Specifically, direction information may be associated with each section of the generated route.

  In the present embodiment, the case where the part information and the direction information are received by the receiving unit 12 and the route information corresponding to the part information and the route information including the direction information are mainly described has been described. It does not have to be. The part information and the direction information may not be received.

  Moreover, although the case where the reception unit 12 also receives the name of the route information has been described in the present embodiment, this need not be the case. In that case, only route information may be output. And in the mobile body 2, server, etc. which received route information, a name may be given to route information or it may not be so.

  Moreover, although the case where the reception unit 12 receives a teaching instruction has been described in the present embodiment, this need not be the case. In this case, for example, the storage unit 13 may store the teaching position at regular time intervals from the teaching start point to the end point, or at certain moving distances. Further, when the teaching position is accumulated, the time may also be accumulated. The time may be an absolute time (for example, 10:25:32) or a relative time (for example, 1 minute, 2 seconds). In the latter case, the time value may be, for example, a timer value from the start of teaching. As such, when the time is also accumulated, the route information may be in accordance with the time. That is, the route information may be information including time, or information including a route in which a moving speed or the like according to the time is set. As described above, by outputting the route information according to the time, it is possible to move the moving body 2 at the same movement speed as when the route teaching device 1 taught.

  Further, in the present embodiment, since the case where the moving body 2 has a traveling unit has been mainly described, the teaching position is a position on a two-dimensional plane, but the moving body has a rotor, a propeller, and the like. In this case, the position in the three-dimensional space may be taught. In that case, for example, the altitude may be obtained by adding an offset value (for example, 10 meters) to the altitude acquired by the current position acquisition unit 11 or manually input by the operator. There may be. Further, the position in the height direction (vertical direction) may be taught, for example, at an altitude above sea level or may be taught at a height from the ground. In the former case, the mobile object that is the flying object may acquire the altitude above the sea level using a barometer or the like and control the position in the height direction. In addition, when the position in the height direction is taught by the height from the ground, the mobile object that is the flying object acquires the height from the ground using a distance meter or the like, and the position in the height direction is obtained. Control may be performed.

  Further, in the route teaching apparatus 1 according to the present embodiment, the operator may be able to set the type of interpolation from one teaching position to the next teaching position. For example, when inputting a teaching instruction, it may be possible to select whether interpolation between teaching positions is linear interpolation, circular interpolation, or curved (Bezier, spline, etc.) interpolation. . When the type of interpolation is designated as such, when performing interpolation between taught positions in the path teaching device 1 or the moving body 2, interpolation according to the designated type is performed. Note that these interpolations are already known and will not be described in detail.

  Further, in the route teaching apparatus 1 according to the present embodiment, the operator may be able to set the movement speed from one teaching position to the next teaching position and the stop time at a certain teaching time point. For example, the operator sets the speed of the moving body 2 low for places where the road surface is rough or where humans can pass, and moves for places where there is no problem even if the moving body 2 moves at high speed. The speed of the body 2 may be set high.

  In the present embodiment, the case where the teaching time is included in the route information has been mainly described, but this need not be the case. The teaching time may not be included in the route information. When the teaching time is not included in the route information, the mobile unit 2 may not output a warning using the teaching time. Regardless of whether the route information includes the teaching time point, the moving body 2 stores the moving time point when the movement according to the route information is performed, and issues a warning using the moving time point. You may make it perform. Hereinafter, the moving body 2 that outputs a warning using such a moving time point will be described.

  FIG. 10 is a block diagram illustrating a configuration of the moving body 2 that accumulates movement points and outputs warnings using the movement points. In FIG. 10, the mobile body 2 includes a route information receiving unit 21, a route information accumulating unit 22, a storage unit 23, an instruction receiving unit 24, an output unit 25, a moving mechanism 26, a control unit 27, a fault The object detection part 31, the movement time accumulation | storage part 32, and the warning output part 33 are provided. The configuration and operation other than the obstacle detection unit 31, the movement time accumulation unit 32, and the warning output unit 33 are the same as those described above except that the control unit 27 performs control according to the detection of the obstacle, and the description thereof will be given. Omitted.

  The obstacle detection unit 31 detects an obstacle. The detection of the obstacle is normally performed while the moving body 2 is moving. There is no limitation on the method by which the obstacle detection unit 31 detects an obstacle. For example, the obstacle detection unit 31 measures the distance to the obstacle using an ultrasonic sensor, a laser sensor, or the like, and detects the obstacle when the distance is equal to or less than a predetermined threshold. Good. The laser sensor may be, for example, a laser range sensor. The obstacle detection unit 31 may detect an obstacle when contact is detected by a pressure sensor attached to the outer periphery of the moving body 2. In addition, the obstacle detection unit 31 may detect an obstacle using another known sensor.

  The control unit 27 controls the moving mechanism 26 so as to perform an obstacle avoidance operation when an obstacle is detected by the obstacle detection unit 31 during movement. The avoidance operation may be, for example, the stop of the moving body 2, the deceleration of the moving body 2, or the change of the route of the moving body 2. The avoidance operation may be the same as the obstacle avoidance operation performed when an obstacle is detected in a conventional automatic conveyance vehicle, for example.

  When the movement according to the route information is completed without the obstacle detection unit 31 detecting the obstacle, the movement point accumulation unit 32 associates the movement point of the movement with the route information and stores the movement unit 23. To accumulate. The case where the movement is completed is a case where the movement to the destination of the route according to the route information is performed. The movement time may be, for example, the start time of the movement, the end time of the movement, or a time point between the start time and the end time, and may be moved immediately after the end of the movement. It may be the time when the time is accumulated. The moving time may be acquired from, for example, a calendar unit or a clock unit (not shown). When accumulating the movement time points, if the movement time points previously accumulated exist, the movement time point accumulation unit 32 may or may not accumulate the movement time points by overwriting.

  When the instruction receiving unit 24 receives a movement instruction, the warning output unit 33 has a difference between the latest movement time associated with the route information corresponding to the instruction and the current time or longer than a predetermined period. If it is, a warning is output. The warning output by the warning output unit 33 is the same as the warning output unit 28 except that the comparison target is changed from the teaching time point to the latest movement time point, and the description thereof is omitted.

  The operation of the moving body 2 shown in FIG. 10 is the same as that in the flowchart of FIG. 5 except that the comparison target when determining whether to output a warning has changed from the teaching time point to the moving time point. Is omitted. However, the movement control process of step S209 in the flowchart of FIG. 5 may be the one shown in FIG. Hereinafter, the flowchart of FIG. 11 showing the movement control process will be described. When the movement control process is performed, interpolation between teaching positions is performed in advance, and the moving mechanism 26 is controlled by the control unit 27 so as to move to each position after interpolation. To do.

  (Step S301) The control unit 27 controls the moving mechanism 26 so as to move from the current position to the next position after interpolation.

  (Step S <b> 302) The control unit 27 determines whether an obstacle is detected by the obstacle detection unit 31. And when an obstruction is detected, it progresses to step S303, and when that is not right, it progresses to step S305.

  (Step S303) The control unit 27 controls the moving mechanism 26 so as to perform an obstacle avoidance operation.

  (Step S304) The control unit 27 determines whether it is possible to return to the movement according to the route corresponding to the route information. If it can be restored, the process proceeds to step S305. If not, the process of step S304 is repeated until it is determined that the process can be restored. For example, when no obstacle is detected, it may be determined that the vehicle can be restored. Specifically, when the obstacle is a human and the person is away from the moving body 2, the obstacle may not be detected, and it may be determined that the object can be restored. In addition, it may be determined that the vehicle can be returned even when the detected obstacle can be detoured. On the other hand, when the situation in which the obstacle is detected continues for a predetermined time or longer or a predetermined distance or longer, the control unit 27 determines that the movement cannot be continued, for example, transmits that fact to the management server, You may make it complete | finish the movement according to a path | route.

  (Step S305) The control unit 27 determines whether or not the next position after interpolation exists. If the next position exists, the process returns to step S301. If not, the movement according to the route information is completed, and the process proceeds to step S306.

  (Step S306) The control unit 27 determines whether an obstacle is detected during the movement according to the route. Then, when an obstacle is detected, the movement control ends, and the process returns to the flowchart of FIG. 5. When no obstacle is detected, the process proceeds to step S307.

  (Step S307) The movement time point accumulation unit 32 accumulates movement time points in association with the route information. And it returns to the flowchart of FIG.

  In this way, when the difference between the movement time point and the current time is greater than or equal to a predetermined period, a warning is output, so if the period from the most recent movement time to the current time becomes longer, a warning about that will be given Will be able to do. By using the latest movement time instead of the teaching time in the judgment regarding warning, no obstacle is detected within that period even if the teaching time is earlier than the predetermined period. If the movement is completed (that is, it has been confirmed that an unexpected new obstacle or the like does not exist at the movement site), the warning can not be output. It is possible to output a warning in accordance with the actual state of operation of the mobile unit 2 than when it is used. In addition, by outputting such a warning, it is considered that the warning output frequency is less than when the teaching time point is used.

  When the obstacle detection unit 31 detects an obstacle during the movement according to the route information, the movement point accumulation unit 32 associates the obstacle detection point indicating the point with the route information. May be accumulated. The warning output unit 33 outputs a warning when the difference between the latest movement time and the current time is equal to or longer than a predetermined period, and the obstacle detection time between the latest movement time and the current time. A warning may be output even when there is.

  Moreover, although the case where the moving body 2 performs either one of the warning output according to the teaching time point and the warning output according to the moving time point has been described, the moving body 2 outputs both warnings. It may be a thing.

  Further, the warning output unit 33 may output a warning other than the warning output according to the teaching time point or the warning time point according to the movement time point. For example, the warning output unit 33 warns when the path indicated by the path information and the current position of the mobile body 2 are separated by a predetermined length or more while the mobile body 2 is moving according to the path information. May be output. For example, even if the control is performed so as to move along the route information, the wheel slips or an unexpected external force (for example, a strong wind) is applied. As a result of accumulating, the route indicated by the route information may deviate from the current position. In such a case, the warning output unit 33 may output a warning. Note that this warning is output while the moving body 2 is moving. Therefore, for example, the warning output unit 33 may alert a person around the moving body 2 by outputting a warning by sound, light, display, or the like. Further, for example, the warning output unit 33 may send a warning to the administrator or the like, thereby giving an opportunity for the administrator to confirm the movement status of the moving body 2. The case where the route and the current position are separated by a predetermined length or more may be a case where the shortest distance between the route and the current position is a predetermined length or more.

  In the above description, only when the movement according to the path information is completed without the obstacle detection by the obstacle detection unit 31, the movement time point of the movement is stored in association with the path information. However, this need not be the case. When the movement according to the route information is completed, the movement point accumulation unit 32 may accumulate the movement point of the movement in association with the route information. This is because even if an obstacle is detected during the movement of the route, it can be considered that the movement has been completed successfully as long as the destination can be reached. Thus, when accumulation at the time of movement is performed regardless of whether or not an obstacle is detected, the moving body 2 may not include the obstacle detection unit 31.

  Moreover, although this Embodiment demonstrated the case where the mobile body 2 which moves using the path | route information taught by the path | route teaching apparatus 1 was provided with the warning output parts 28 and 33, it may not be so. . The moving body that moves using the route information may be a moving body that does not include a warning output unit, that is, a conventional moving body that moves according to the taught route.

  In the above embodiment, each process or each function may be realized by centralized processing by a single device or a single system, or may be distributedly processed by a plurality of devices or a plurality of systems. It may be realized by doing.

  In the above embodiment, the information exchange between the components is performed by one component when, for example, the two components that exchange the information are physically different from each other. It may be performed by outputting information and receiving information by the other component, or when two components that exchange information are physically the same, one component May be performed by moving from the phase of the process corresponding to to the phase of the process corresponding to the other component.

  In the above embodiment, information related to processing executed by each component, for example, information received, acquired, selected, generated, transmitted, or received by each component In addition, information such as threshold values, mathematical formulas, addresses, and the like used by each constituent element in processing may be temporarily or for a long time held in a recording medium (not shown), even if not specified in the above description. Further, the storage of information on the recording medium (not shown) may be performed by each component or a storage unit (not shown). Further, reading of information from the recording medium (not shown) may be performed by each component or a reading unit (not shown).

  In the above embodiment, when information used by each component, for example, information such as a threshold value, an address, and various setting values used by each component may be changed by the user, Even if it is not specified in the description, the user may be able to change the information as appropriate, or may not be so. If the information can be changed by the user, the change is realized by, for example, a not-shown receiving unit that receives a change instruction from the user and a changing unit (not shown) that changes the information in accordance with the change instruction. May be. The change instruction received by the receiving unit (not shown) may be received from an input device, information received via a communication line, or information read from a predetermined recording medium, for example. .

  Further, in the above embodiment, when two or more components included in the route teaching apparatus 1 or the mobile body 2 have communication devices, input devices, etc., the two or more components are physically single devices. You may have, or you may have a separate device.

  In the above-described embodiment, each component may be configured by dedicated hardware, or a component that can be realized by software may be realized by executing a program. For example, each component can be realized by a program execution unit such as a CPU reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory. At the time of execution, the program execution unit may execute the program while accessing the storage unit or the recording medium. The program may be executed by being downloaded from a server or the like, or may be executed by reading a program recorded on a predetermined recording medium (for example, an optical disk, a magnetic disk, a semiconductor memory, or the like). Good. Further, this program may be used as a program constituting a program product. Further, the computer that executes the program may be singular or plural. That is, centralized processing may be performed, or distributed processing may be performed.

  Further, the present invention is not limited to the above-described embodiment, and various modifications are possible, and it goes without saying that these are also included in the scope of the present invention.

  As described above, according to the route teaching apparatus and the like according to the present invention, an effect that a route can be taught without using a moving body is obtained, which is useful as an apparatus for teaching a route of a moving body.

DESCRIPTION OF SYMBOLS 1 Path | route teaching apparatus 2 Mobile body 11 Current position acquisition part 12 Reception part 13 Storage part 14, 23 Storage part 15, 25 Output part 16 Path | route production | generation part 21 Path | route information reception part 22 Path | route information storage part 24 Instruction reception part 26 Movement mechanism 27 Control unit 28, 33 Warning output unit 31 Obstacle detection unit 32 Moving point accumulation unit

Claims (11)

A route teaching device for teaching a route of a moving body,
A current position acquisition unit for acquiring a current position of the route teaching device;
An accumulation unit for accumulating the current position acquired by the current position acquisition unit as a teaching position;
A route teaching apparatus comprising: an output unit that outputs route information corresponding to the teaching position accumulated by the accumulation unit. A reception unit for receiving a teaching instruction for instructing accumulation of the teaching position;
The route teaching apparatus according to claim 1, wherein the storage unit stores a teaching position when a teaching instruction is received by the receiving unit. The reception unit also receives part information indicating a part of the moving body corresponding to the teaching position,
The accumulation unit accumulates the part information received by the reception unit in association with the teaching position,
The route teaching apparatus according to claim 2, wherein the route information corresponds to the part information. The reception unit also receives direction information indicating the direction of the moving body corresponding to the teaching position,
The accumulation unit accumulates the direction information received by the reception unit in association with the teaching position,
The route teaching apparatus according to claim 2 or 3, wherein the route information includes the direction information. The reception unit also receives a name corresponding to the route information,
5. The route teaching device according to claim 2, wherein the output unit outputs the name received by the receiving unit and the route information in association with each other. The route teaching apparatus according to claim 1, wherein the route information includes a teaching time point corresponding to the route information. A moving body that moves using the route information output from the route teaching device according to claim 6,
A route information receiving unit for receiving route information output from the route teaching device;
A route information accumulating unit that accumulates the route information accepted by the route information accepting unit;
A moving mechanism for moving the moving body;
An instruction receiving unit that receives an instruction of movement according to the route information;
A control unit that controls the moving mechanism so as to move according to route information corresponding to the instruction received by the instruction receiving unit;
A warning output unit that outputs a warning when a difference between the teaching time point included in the route information corresponding to the instruction and the current time is equal to or longer than a predetermined period when the instruction is received by the instruction receiving unit; , Mobile body with. A moving body that moves using the route information output from the route teaching device according to any one of claims 1 to 6,
A route information receiving unit for receiving route information output from the route teaching device;
A route information accumulating unit that accumulates the route information accepted by the route information accepting unit;
A moving mechanism for moving the moving body;
An instruction receiving unit that receives an instruction of movement according to the route information;
A control unit that controls the moving mechanism so as to move according to route information corresponding to the instruction received by the instruction receiving unit;
A movement time point accumulation unit that accumulates the movement time point of the movement in association with the route information when movement according to the route information is completed;
When an instruction is received by the instruction receiving unit, a warning is output if the difference between the latest movement time associated with the route information corresponding to the instruction and the current time is greater than or equal to a predetermined period. A moving object comprising a warning output unit; An obstacle detection unit that detects an obstacle is further provided.
The controller controls the moving mechanism to perform an obstacle avoidance operation when an obstacle is detected by the obstacle detector during movement,
The movement time accumulation unit accumulates the movement time point in association with the route information when the movement according to the route information is completed without the obstacle detection by the obstacle detection unit. The moving body according to claim 8. The mobile body according to claim 7, wherein the mobile body is a carriage. The mobile body according to claim 7, wherein the mobile body is a flying body.

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